The first thing I did was to prototype the linkage for each wing, as that was the main thing that was changing from the previous version. The previous version used a cam, which was a little harder to maintain. I chose to use a position servo with a linkage reminiscent of one on a PHANToM haptic robot I used to work with.
Next, I added some distance sensor nostrils and the other wing. The head also contained two position servos, one to open and close the mouth and one to turn the head back and forth.
With the addition of lights for the eyes and tail and some glitter foam and felt, Princess Sparkle Dragon II was complete.
Since I had laser cut all the parts, it was easy to create Princess Glitter Dragon. She is identical, except for a different color scheme.
Each of them can easily be packed in a Tupperware to travel safely to conferences.
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